// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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//
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#ifndef G2O_BATCH_STATS_H_
#define G2O_BATCH_STATS_H_

#include <iostream>
#include <vector>

#include "g2o_core_api.h"

namespace g2o {

/**
 * \brief statistics about the optimization
 */
struct G2O_CORE_API G2OBatchStatistics {
  G2OBatchStatistics();
  int iteration;    ///< which iteration
  int numVertices;  ///< how many vertices are involved
  int numEdges;     ///< how many edges
  number_t chi2;    ///< total chi2

  /** timings **/
  // nonlinear part
  number_t timeResiduals;      ///< residuals
  number_t timeLinearize;      ///< jacobians
  number_t timeQuadraticForm;  ///< construct the quadratic form in the graph
  int levenbergIterations;     ///< number of iterations performed by LM
  // block_solver (constructs Ax=b, plus maybe schur)
  number_t timeSchurComplement;  ///< compute schur complement (0 if not done)

  // linear solver (computes Ax=b);
  number_t
      timeSymbolicDecomposition;  ///< symbolic decomposition (0 if not done)
  number_t
      timeNumericDecomposition;  ///< numeric decomposition  (0 if not done)
  number_t timeLinearSolution;   ///< total time for solving Ax=b (including
                                 ///< detup for schur)
  number_t timeLinearSolver;     ///< time for solving, excluding Schur setup
  int iterationsLinearSolver;    ///< iterations of PCG, (0 if not used, i.e.,
                                 ///< Cholesky)
  number_t timeUpdate;           ///< time to apply the update
  number_t timeIteration;        ///< total time;

  number_t timeMarginals;  ///< computing the inverse elements (solve blocks)
                           ///< and thus the marginal covariances

  // information about the Hessian matrix
  size_t hessianDimension;      ///< rows / cols of the Hessian
  size_t hessianPoseDimension;  ///< dimension of the pose matrix in Schur
  size_t
      hessianLandmarkDimension;  ///< dimension of the landmark matrix in Schur
  size_t choleskyNNZ;            ///< number of non-zeros in the cholesky factor

  static G2OBatchStatistics* globalStats() { return _globalStats; }
  static void setGlobalStats(G2OBatchStatistics* b);

 protected:
  static G2OBatchStatistics* _globalStats;
};

G2O_CORE_API std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&);

typedef std::vector<G2OBatchStatistics> BatchStatisticsContainer;
}  // namespace g2o

#endif
